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<div class="title">organized_edge_detection.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html">   58</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;OrganizedEdgeBase&lt;PointT, PointLT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const OrganizedEdgeBase&lt;PointT, PointLT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a7231ccb5dcbdfe84f3f6e6ee2fe31c36">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#a7231ccb5dcbdfe84f3f6e6ee2fe31c36">OrganizedEdgeBase</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        : <a class="code" href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">th_depth_discon_</a> (0.02f)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">max_search_neighbors_</a> (50)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">detecting_edge_types_</a> (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a94e8da202ec53492ef2946e17be465cb">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#a94e8da202ec53492ef2946e17be465cb">~OrganizedEdgeBase</a> ()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#abcb66724809b1ee50b791ff39432d770">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#ad325a65b1b1213608dda815a522faf8e">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#ad325a65b1b1213608dda815a522faf8e">setDepthDisconThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> th)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">th_depth_discon_</a> = th;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#aa1be7d1bedac230c86499f9ebff7ee3a">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#aa1be7d1bedac230c86499f9ebff7ee3a">getDepthDisconThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">th_depth_discon_</a>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#ab6089208a7e7aa53757ffe22906d6965">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#ab6089208a7e7aa53757ffe22906d6965">setMaxSearchNeighbors</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> max_dist)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">max_search_neighbors_</a> = max_dist;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a32d21077eb9f92786a3c7e7ee67c69ba">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#a32d21077eb9f92786a3c7e7ee67c69ba">getMaxSearchNeighbors</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">max_search_neighbors_</a>);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">setEdgeType</a> (<span class="keywordtype">int</span> edge_types)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">detecting_edge_types_</a> = edge_types;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a078b8d04ebeda591ce346f994c452f53">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#a078b8d04ebeda591ce346f994c452f53">getEdgeType</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">detecting_edge_types_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">enum</span> {EDGELABEL_NAN_BOUNDARY=1, EDGELABEL_OCCLUDING=2, EDGELABEL_OCCLUDED=4, EDGELABEL_HIGH_CURVATURE=8, EDGELABEL_RGB_CANNY=16};</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> num_of_edgetype_ = 5;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#aae309897a99600da8e1754b1aed901e9">extractEdges</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_base.html#a97fa07dbeb07a1aec159d72fcceba2fd">assignLabelIndices</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="structpcl_1_1_organized_edge_base_1_1_neighbor.html">  156</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_organized_edge_base_1_1_neighbor.html">Neighbor</a></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <a class="code" href="structpcl_1_1_organized_edge_base_1_1_neighbor.html">Neighbor</a> (<span class="keywordtype">int</span> dx, <span class="keywordtype">int</span> dy, <span class="keywordtype">int</span> didx)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        : d_x (dx)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        , d_y (dy)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        , d_index (didx)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {}</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordtype">int</span> d_x;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">int</span> d_y;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordtype">int</span> d_index; <span class="comment">// = dy * width + dx: pre-calculated</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      };</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">  173</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">th_depth_discon_</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">  176</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">max_search_neighbors_</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">  179</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">detecting_edge_types_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html">  183</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html">OrganizedEdgeFromRGB</a> : <span class="keyword">virtual</span> <span class="keyword">public</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase</a>&lt;PointT, PointLT&gt;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::input_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::indices_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::detecting_edge_types_</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_NAN_BOUNDARY</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDING</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDED</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_RGB_CANNY</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5cda37bf449ef2261dc588b8f3d88202">  205</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5cda37bf449ef2261dc588b8f3d88202">OrganizedEdgeFromRGB</a> ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        : <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointLT&gt; ()</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">th_rgb_canny_low_</a> (40.0)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">th_rgb_canny_high_</a> (100.0)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">setEdgeType</a> (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_RGB_CANNY);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a08707e33e0be26279e34b2d368693546">  215</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a08707e33e0be26279e34b2d368693546">~OrganizedEdgeFromRGB</a> ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#add4fb378cbb5e07b4563258bc11ee974">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a9332533adc3ce086f8692916b3e26821">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a9332533adc3ce086f8692916b3e26821">setRGBCannyLowThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> th)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">th_rgb_canny_low_</a> = th;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a1860af9fe3cf863f8e26b0f0ab9eed50">  235</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a1860af9fe3cf863f8e26b0f0ab9eed50">getRGBCannyLowThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">th_rgb_canny_low_</a>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#aaf5c6a4f82e8ca2a47edc022ab598c92">  242</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#aaf5c6a4f82e8ca2a47edc022ab598c92">setRGBCannyHighThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> th)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">th_rgb_canny_high_</a> = th;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a376caffd6f9a46e37e52064c6859deda">  249</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a376caffd6f9a46e37e52064c6859deda">getRGBCannyHighThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">th_rgb_canny_high_</a>);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a300863d6b9d0ce7a9a54032090abba06">extractEdges</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">  262</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">th_rgb_canny_low_</a>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">  265</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">th_rgb_canny_high_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  };</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html">  269</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals</a> : <span class="keyword">virtual</span> <span class="keyword">public</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase</a>&lt;PointT, PointLT&gt;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::input_</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::indices_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::detecting_edge_types_</a>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_NAN_BOUNDARY</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDING</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDED</a>;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_HIGH_CURVATURE</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a7406db1b72c7d4ba7616eb02fa7ef0a0">  295</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a7406db1b72c7d4ba7616eb02fa7ef0a0">OrganizedEdgeFromNormals</a> () </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        : <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointLT&gt; ()</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">normals_</a> ()</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">th_hc_canny_low_</a> (0.4f)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">th_hc_canny_high_</a> (1.1f)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">setEdgeType</a> (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_HIGH_CURVATURE);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#aefab1d2413b0f7284b90f6e225daac76">  306</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#aefab1d2413b0f7284b90f6e225daac76">~OrganizedEdgeFromNormals</a> ()</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a34903cc4f444e80a579e15ab1dd40ef7">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#ac344ae2441b15a888eed87b6c53fa0b4">  321</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#ac344ae2441b15a888eed87b6c53fa0b4">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals) </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">normals_</a> = normals;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a32bceeb72da96b42486dda1eaa25993c">  328</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a32bceeb72da96b42486dda1eaa25993c">getInputNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">normals_</a>);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a66b683541f88889c1407cbe364dc0ff0">  335</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a66b683541f88889c1407cbe364dc0ff0">setHCCannyLowThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> th)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">th_hc_canny_low_</a> = th;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#ad98a0a092f8311267288ea5675f077f8">  342</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#ad98a0a092f8311267288ea5675f077f8">getHCCannyLowThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">th_hc_canny_low_</a>);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a73f6f3ac103869668f449bfed657eb43">  349</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a73f6f3ac103869668f449bfed657eb43">setHCCannyHighThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> th)</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">th_hc_canny_high_</a> = th;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a835796800d20a9a225f154a76286d1b5">  356</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a835796800d20a9a225f154a76286d1b5">getHCCannyHighThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">th_hc_canny_high_</a>);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a9b45006422dc99eecf5d92e6df488188">extractEdges</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">  369</a></span>&#160;      PointCloudNConstPtr <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">normals_</a>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">  372</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">th_hc_canny_low_</a>;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">  375</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">th_hc_canny_high_</a>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  };</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html">  379</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html">OrganizedEdgeFromRGBNormals</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html">OrganizedEdgeFromRGB</a>&lt;PointT, PointLT&gt;, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals</a>&lt;PointT, PointNT, PointLT&gt;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals&lt;PointT, PointNT, PointLT&gt;::input_</a>;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals&lt;PointT, PointNT, PointLT&gt;::indices_</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals&lt;PointT, PointNT, PointLT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals&lt;PointT, PointNT, PointLT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals&lt;PointT, PointNT, PointLT&gt;::detecting_edge_types_</a>;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_NAN_BOUNDARY</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDING</a>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_OCCLUDED</a>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_HIGH_CURVATURE</a>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_organized_edge_base.html">OrganizedEdgeBase&lt;PointT, PointLT&gt;::EDGELABEL_RGB_CANNY</a>;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      </div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#ab58f771adbd368af031872fd153cf4c9">  406</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#ab58f771adbd368af031872fd153cf4c9">OrganizedEdgeFromRGBNormals</a> () </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        : <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b.html">OrganizedEdgeFromRGB</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointLT&gt; ()</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        , <a class="code" href="classpcl_1_1_organized_edge_from_normals.html">OrganizedEdgeFromNormals</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT&gt; ()</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">setEdgeType</a> (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_RGB_CANNY | EDGELABEL_HIGH_CURVATURE);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#a3d936480577e95f47abb40a685731aaf">  415</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#a3d936480577e95f47abb40a685731aaf">~OrganizedEdgeFromRGBNormals</a> ()</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      }</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <a class="code" href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#a575c7b16b98c0d4935869f92fa3e6414">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  };</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;}</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/organized_edge_detection.hpp&gt;</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//#ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html">pcl::OrganizedEdgeBase</a></div><div class="ttdoc">OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals, and OrganizedEdgeFromRGBNormals fi...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a078b8d04ebeda591ce346f994c452f53"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a078b8d04ebeda591ce346f994c452f53">pcl::OrganizedEdgeBase::getEdgeType</a></div><div class="ttdeci">int getEdgeType() const</div><div class="ttdoc">Get the detecting edge types.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a21238690cf73007388b6557a798c5e5c"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a21238690cf73007388b6557a798c5e5c">pcl::OrganizedEdgeBase::th_depth_discon_</a></div><div class="ttdeci">float th_depth_discon_</div><div class="ttdoc">The tolerance in meters for difference in depth values between neighboring points (The value is set f...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a32d21077eb9f92786a3c7e7ee67c69ba"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a32d21077eb9f92786a3c7e7ee67c69ba">pcl::OrganizedEdgeBase::getMaxSearchNeighbors</a></div><div class="ttdeci">int getMaxSearchNeighbors() const</div><div class="ttdoc">Get the max search distance for deciding occluding and occluded edges.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a43666cc242b53157566f8c0039b8f78e"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a43666cc242b53157566f8c0039b8f78e">pcl::OrganizedEdgeBase::detecting_edge_types_</a></div><div class="ttdeci">int detecting_edge_types_</div><div class="ttdoc">The bit encoded value that represents edge types to detect</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a7231ccb5dcbdfe84f3f6e6ee2fe31c36"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a7231ccb5dcbdfe84f3f6e6ee2fe31c36">pcl::OrganizedEdgeBase::OrganizedEdgeBase</a></div><div class="ttdeci">OrganizedEdgeBase()</div><div class="ttdoc">Constructor for OrganizedEdgeBase</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a94e8da202ec53492ef2946e17be465cb"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a94e8da202ec53492ef2946e17be465cb">pcl::OrganizedEdgeBase::~OrganizedEdgeBase</a></div><div class="ttdeci">virtual ~OrganizedEdgeBase()</div><div class="ttdoc">Destructor for OrganizedEdgeBase</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_a97fa07dbeb07a1aec159d72fcceba2fd"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#a97fa07dbeb07a1aec159d72fcceba2fd">pcl::OrganizedEdgeBase::assignLabelIndices</a></div><div class="ttdeci">void assignLabelIndices(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Assign point indices for each edge label</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_aa1be7d1bedac230c86499f9ebff7ee3a"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#aa1be7d1bedac230c86499f9ebff7ee3a">pcl::OrganizedEdgeBase::getDepthDisconThreshold</a></div><div class="ttdeci">float getDepthDisconThreshold() const</div><div class="ttdoc">Get the tolerance in meters for difference in depth values between neighboring points.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_aae309897a99600da8e1754b1aed901e9"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#aae309897a99600da8e1754b1aed901e9">pcl::OrganizedEdgeBase::extractEdges</a></div><div class="ttdeci">void extractEdges(pcl::PointCloud&lt; PointLT &gt; &amp;labels) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each ed...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:88</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_aaeb8f9a10beabe46439e07ef52281690"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#aaeb8f9a10beabe46439e07ef52281690">pcl::OrganizedEdgeBase::setEdgeType</a></div><div class="ttdeci">void setEdgeType(int edge_types)</div><div class="ttdoc">Set the detecting edge types.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_ab6089208a7e7aa53757ffe22906d6965"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#ab6089208a7e7aa53757ffe22906d6965">pcl::OrganizedEdgeBase::setMaxSearchNeighbors</a></div><div class="ttdeci">void setMaxSearchNeighbors(const int max_dist)</div><div class="ttdoc">Set the max search distance for deciding occluding and occluded edges.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_abcb66724809b1ee50b791ff39432d770"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#abcb66724809b1ee50b791ff39432d770">pcl::OrganizedEdgeBase::compute</a></div><div class="ttdeci">void compute(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_ad325a65b1b1213608dda815a522faf8e"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#ad325a65b1b1213608dda815a522faf8e">pcl::OrganizedEdgeBase::setDepthDisconThreshold</a></div><div class="ttdeci">void setDepthDisconThreshold(const float th)</div><div class="ttdoc">Set the tolerance in meters for difference in depth values between neighboring points.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_base_html_af354fad4b7a870f40800bbb5530ca6c0"><div class="ttname"><a href="classpcl_1_1_organized_edge_base.html#af354fad4b7a870f40800bbb5530ca6c0">pcl::OrganizedEdgeBase::max_search_neighbors_</a></div><div class="ttdeci">int max_search_neighbors_</div><div class="ttdoc">The max search distance for deciding occluding and occluded edges</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html">pcl::OrganizedEdgeFromNormals</a></div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a32bceeb72da96b42486dda1eaa25993c"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a32bceeb72da96b42486dda1eaa25993c">pcl::OrganizedEdgeFromNormals::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get the input normals.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a34903cc4f444e80a579e15ab1dd40ef7"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a34903cc4f444e80a579e15ab1dd40ef7">pcl::OrganizedEdgeFromNormals::compute</a></div><div class="ttdeci">void compute(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assig...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:276</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a3a940624fd7892db1753a4245af33c60"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a3a940624fd7892db1753a4245af33c60">pcl::OrganizedEdgeFromNormals::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input normals</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a66b683541f88889c1407cbe364dc0ff0"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a66b683541f88889c1407cbe364dc0ff0">pcl::OrganizedEdgeFromNormals::setHCCannyLowThreshold</a></div><div class="ttdeci">void setHCCannyLowThreshold(const float th)</div><div class="ttdoc">Set the low threshold value for high curvature Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:335</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a690b2a8a209970fba5198135ce0909b2"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a690b2a8a209970fba5198135ce0909b2">pcl::OrganizedEdgeFromNormals::th_hc_canny_high_</a></div><div class="ttdeci">float th_hc_canny_high_</div><div class="ttdoc">The high threshold value for high curvature Canny edge detection (default: 1.1)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a73f6f3ac103869668f449bfed657eb43"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a73f6f3ac103869668f449bfed657eb43">pcl::OrganizedEdgeFromNormals::setHCCannyHighThreshold</a></div><div class="ttdeci">void setHCCannyHighThreshold(const float th)</div><div class="ttdoc">Set the high threshold value for high curvature Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a7406db1b72c7d4ba7616eb02fa7ef0a0"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a7406db1b72c7d4ba7616eb02fa7ef0a0">pcl::OrganizedEdgeFromNormals::OrganizedEdgeFromNormals</a></div><div class="ttdeci">OrganizedEdgeFromNormals()</div><div class="ttdoc">Constructor for OrganizedEdgeFromNormals</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a835796800d20a9a225f154a76286d1b5"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a835796800d20a9a225f154a76286d1b5">pcl::OrganizedEdgeFromNormals::getHCCannyHighThreshold</a></div><div class="ttdeci">float getHCCannyHighThreshold() const</div><div class="ttdoc">Get the high threshold value for high curvature Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_a9b45006422dc99eecf5d92e6df488188"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#a9b45006422dc99eecf5d92e6df488188">pcl::OrganizedEdgeFromNormals::extractEdges</a></div><div class="ttdeci">void extractEdges(pcl::PointCloud&lt; PointLT &gt; &amp;labels) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:292</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_ac344ae2441b15a888eed87b6c53fa0b4"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#ac344ae2441b15a888eed87b6c53fa0b4">pcl::OrganizedEdgeFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input normals.</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_acd0961f657cda026570a5afc98ec799f"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#acd0961f657cda026570a5afc98ec799f">pcl::OrganizedEdgeFromNormals::th_hc_canny_low_</a></div><div class="ttdeci">float th_hc_canny_low_</div><div class="ttdoc">The low threshold value for high curvature Canny edge detection (default: 0.4)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:372</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_ad98a0a092f8311267288ea5675f077f8"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#ad98a0a092f8311267288ea5675f077f8">pcl::OrganizedEdgeFromNormals::getHCCannyLowThreshold</a></div><div class="ttdeci">float getHCCannyLowThreshold() const</div><div class="ttdoc">Get the low threshold value for high curvature Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_normals_html_aefab1d2413b0f7284b90f6e225daac76"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_normals.html#aefab1d2413b0f7284b90f6e225daac76">pcl::OrganizedEdgeFromNormals::~OrganizedEdgeFromNormals</a></div><div class="ttdeci">virtual ~OrganizedEdgeFromNormals()</div><div class="ttdoc">Destructor for OrganizedEdgeFromNormals</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html">pcl::OrganizedEdgeFromRGB</a></div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a08707e33e0be26279e34b2d368693546"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a08707e33e0be26279e34b2d368693546">pcl::OrganizedEdgeFromRGB::~OrganizedEdgeFromRGB</a></div><div class="ttdeci">virtual ~OrganizedEdgeFromRGB()</div><div class="ttdoc">Destructor for OrganizedEdgeFromRGB</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a1860af9fe3cf863f8e26b0f0ab9eed50"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a1860af9fe3cf863f8e26b0f0ab9eed50">pcl::OrganizedEdgeFromRGB::getRGBCannyLowThreshold</a></div><div class="ttdeci">float getRGBCannyLowThreshold() const</div><div class="ttdoc">Get the low threshold value for RGB Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a300863d6b9d0ce7a9a54032090abba06"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a300863d6b9d0ce7a9a54032090abba06">pcl::OrganizedEdgeFromRGB::extractEdges</a></div><div class="ttdeci">void extractEdges(pcl::PointCloud&lt; PointLT &gt; &amp;labels) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:244</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a376caffd6f9a46e37e52064c6859deda"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a376caffd6f9a46e37e52064c6859deda">pcl::OrganizedEdgeFromRGB::getRGBCannyHighThreshold</a></div><div class="ttdeci">float getRGBCannyHighThreshold() const</div><div class="ttdoc">Get the high threshold value for RGB Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a5cda37bf449ef2261dc588b8f3d88202"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a5cda37bf449ef2261dc588b8f3d88202">pcl::OrganizedEdgeFromRGB::OrganizedEdgeFromRGB</a></div><div class="ttdeci">OrganizedEdgeFromRGB()</div><div class="ttdoc">Constructor for OrganizedEdgeFromRGB</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a5d994ed272cb4924b43d4f8008ac17e6"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a5d994ed272cb4924b43d4f8008ac17e6">pcl::OrganizedEdgeFromRGB::th_rgb_canny_high_</a></div><div class="ttdeci">float th_rgb_canny_high_</div><div class="ttdoc">The high threshold value for RGB Canny edge detection (default: 100.0)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_a9332533adc3ce086f8692916b3e26821"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#a9332533adc3ce086f8692916b3e26821">pcl::OrganizedEdgeFromRGB::setRGBCannyLowThreshold</a></div><div class="ttdeci">void setRGBCannyLowThreshold(const float th)</div><div class="ttdoc">Set the low threshold value for RGB Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_aaf5c6a4f82e8ca2a47edc022ab598c92"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#aaf5c6a4f82e8ca2a47edc022ab598c92">pcl::OrganizedEdgeFromRGB::setRGBCannyHighThreshold</a></div><div class="ttdeci">void setRGBCannyHighThreshold(const float th)</div><div class="ttdoc">Set the high threshold value for RGB Canny edge detection</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_accbb592f07f93287875eab9ce7203812"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#accbb592f07f93287875eab9ce7203812">pcl::OrganizedEdgeFromRGB::th_rgb_canny_low_</a></div><div class="ttdeci">float th_rgb_canny_low_</div><div class="ttdoc">The low threshold value for RGB Canny edge detection (default: 40.0)</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_html_add4fb378cbb5e07b4563258bc11ee974"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b.html#add4fb378cbb5e07b4563258bc11ee974">pcl::OrganizedEdgeFromRGB::compute</a></div><div class="ttdeci">void compute(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point ...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:228</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_normals_html"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b_normals.html">pcl::OrganizedEdgeFromRGBNormals</a></div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:380</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_normals_html_a3d936480577e95f47abb40a685731aaf"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#a3d936480577e95f47abb40a685731aaf">pcl::OrganizedEdgeFromRGBNormals::~OrganizedEdgeFromRGBNormals</a></div><div class="ttdeci">virtual ~OrganizedEdgeFromRGBNormals()</div><div class="ttdoc">Destructor for OrganizedEdgeFromRGBNormals</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_normals_html_a575c7b16b98c0d4935869f92fa3e6414"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#a575c7b16b98c0d4935869f92fa3e6414">pcl::OrganizedEdgeFromRGBNormals::compute</a></div><div class="ttdeci">void compute(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature r...</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.hpp:334</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_edge_from_r_g_b_normals_html_ab58f771adbd368af031872fd153cf4c9"><div class="ttname"><a href="classpcl_1_1_organized_edge_from_r_g_b_normals.html#ab58f771adbd368af031872fd153cf4c9">pcl::OrganizedEdgeFromRGBNormals::OrganizedEdgeFromRGBNormals</a></div><div class="ttdeci">OrganizedEdgeFromRGBNormals()</div><div class="ttdoc">Constructor for OrganizedEdgeFromRGBNormals</div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_organized_edge_base_1_1_neighbor_html"><div class="ttname"><a href="structpcl_1_1_organized_edge_base_1_1_neighbor.html">pcl::OrganizedEdgeBase::Neighbor</a></div><div class="ttdef"><b>Definition:</b> organized_edge_detection.h:157</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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